mangavalkandClaude Opus 5.5
5ff85c4eb8
- LEGACY/Hexapod_Teensy/: old robot sketch (reference only). - platformio.ini: robot env targets teensy36 (owner-confirmed board). - Config.h: per-servo SERVOS table (pin, pulse at 0 deg, signed us/deg, pulse limits) built from the old sketch's pins, ranges, trims and the old Unity servo directions. Rear-left/front-left coxa offsets set to 0: the owner re-horns those two servos (the old +-90 left them at the end of travel; the sim showed them clamping). - ServoDriver: 18 servos on hardware PWM (50 Hz, 16-bit); the Teensy 3.6 Servo library stops at 12. - Radio on CE 39 / CSN 15 with SPI SCK on pin 14. - sim: analogWrite/PWM shims, pulses decoded through SERVOS (API v6). - Docs: CLAUDE.md, READMEs. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
94 lines
1.9 KiB
Arduino
94 lines
1.9 KiB
Arduino
#include "Nrf.h"
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#include <Wire.h>
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#include <MPU6050_tockn.h>
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#include "PWMServo.h"
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#include "config.h"
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PWMServo servos[18];
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MPU6050 mpu (Wire);
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dataStruct2 data;
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void setup()
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{
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Serial.begin(115200);
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Serial1.begin(115200);
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// while (!Serial) ; // wait for arduino serial monitor
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for (int i = 0; i < 18; i++)
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servos[i].attach(pins[i], servoMin[i] + servoCallibration[i],
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servoMax[i] + servoCallibration[i]); // 900-2100 for high torque servos
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// while (true)
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// {
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for (int i = 0; i < 18; i++)
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servos[i].write(90 + servoOffset[i]);
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// }
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Serial.println("Starting mpu6050");
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// // Initialization
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// Wire.begin();
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// mpu.begin();
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//
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// mpu.calcGyroOffsets(true, 300, 1000);
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//
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// // Calibration
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// Serial.println("=====================================");
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// Serial.println("Starting calibration...");
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// mpu.calcGyroOffsets();
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// Serial.println("Calibration complete!");
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Serial.println("Starting nrf");
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NrfInit();
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}
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void STOP()
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{
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for (int i = 0; i < 18; i++)
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pinMode(pins[i], INPUT);
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while (true)
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{}
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}
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int i = 0;
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void loop()
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{
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network.update();
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if (false)
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{
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mpu.update();
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Serial.print("AngX = ");
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Serial.print(mpu.getAngleX());
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Serial.print(" / AngY = ");
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Serial.print(mpu.getAngleY());
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Serial.print(" / AngZ = ");
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Serial.println(mpu.getAngleZ());
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}
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// Serial.print(" / AngX = ");
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// Serial.print(mpu.getGyroAngleX());
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// Serial.print(" / AngY = ");
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// Serial.print(mpu.getGyroAngleY());
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// Serial.print(" / AngZ = ");
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// Serial.println(mpu.getGyroAngleZ());
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data = NrfGetData(data, true);
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// if (data.STOP)
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// STOP();
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// test
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// data.servoPositions[0] = data.servoPositions[0] + 0.1f;
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// data = NrfSendData(data, false);
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if (data.remotePasstroughControl == true)
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for (int i = 0; i < 18; i++)
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servos[i].write(data.servoPositions[i] + servoOffset[i]);
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delay(20);
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}
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